Unmanned aircraft systems and methods to interact with specifically intended objects

ABSTRACT

In some embodiments, systems, apparatuses, methods, and processes are provided to control and allocate UASs. In some embodiments, a system to control unmanned aircraft systems (UAS), comprises: one or more wireless transceivers configured to communicate with the UAS; a control circuit coupled with the transceiver(s); and a memory coupled to the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to perform the steps of: receive sensor data captured by at least one sensor of a UAS; determine, from the sensor data, unique identification of an object at a predefined location; and confirm, from the sensor data, that the identified object is an expected object expected at the predefined location.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. application Ser. No.15/457,638, filed Mar. 13, 2017, which claims the benefit of U.S.Provisional Application No. 62/308,140, filed Mar. 14, 2016, which areincorporated herein by reference in their entirety.

TECHNICAL FIELD

This invention relates generally to unmanned aircraft systems (UAS).

BACKGROUND

In a modern retail environment, there is a need to improve the customerservice and/or convenience for the customer. One aspect of customerservice is the delivery of products. There are numerous ways to deliveryproducts to customers. Getting the product to a delivery location,however, can cause undesirable delays, can add cost and reduce revenue.

BRIEF DESCRIPTION OF THE DRAWINGS

Disclosed herein are embodiments of systems, apparatuses and methodspertaining to unmanned aircraft systems (UAS). This description includesdrawings, wherein:

FIG. 1 illustrates a simplified block diagram of an exemplary UAScontrol system, in accordance with some embodiments.

FIG. 2 illustrates a simplified block diagram of an exemplary taskcontrol system, in accordance with some embodiments.

FIG. 3 illustrates a simplified block diagram of an exemplary UAS, inaccordance with some embodiments.

FIG. 4 illustrates a simplified block diagram of an exemplary pilotcontrol system, in accordance with some embodiments.

FIG. 5 illustrates a simplified flow diagram of an exemplary process ofcontrolling one or more UASs, in accordance with some embodiments.

Elements in the figures are illustrated for simplicity and clarity andhave not necessarily been drawn to scale. For example, the dimensionsand/or relative positioning of some of the elements in the figures maybe exaggerated relative to other elements to help to improveunderstanding of various embodiments of the present invention. Also,common but well-understood elements that are useful or necessary in acommercially feasible embodiment are often not depicted in order tofacilitate a less obstructed view of these various embodiments of thepresent invention. Certain actions and/or steps may be described ordepicted in a particular order of occurrence while those skilled in theart will understand that such specificity with respect to sequence isnot actually required. The terms and expressions used herein have theordinary technical meaning as is accorded to such terms and expressionsby persons skilled in the technical field as set forth above exceptwhere different specific meanings have otherwise been set forth herein.

DETAILED DESCRIPTION

The following description is not to be taken in a limiting sense, but ismade merely for the purpose of describing the general principles ofexemplary embodiments. Reference throughout this specification to “oneembodiment,” “an embodiment,” “some embodiments”, “an implementation”,“some implementations”, or similar language means that a particularfeature, structure, or characteristic described in connection with theembodiment is included in at least one embodiment of the presentinvention. Thus, appearances of the phrases “in one embodiment,” “in anembodiment,” “in some embodiments”, “in some implementations”, andsimilar language throughout this specification may, but do notnecessarily, all refer to the same embodiment.

Generally speaking, pursuant to various embodiments, systems,apparatuses, methods and processes are provide to utilize unmannedaircraft systems (UAS) in delivering packages to customers at scheduledlocations and/or preforming other tasks at predefined locations. Someembodiments utilize sensors on UASs to detect objects that are intendedto be interacted with in addition to detecting objects that the UASshould avoid. In some embodiments, a system recognizes objects so thatUASs can interact with intended objects. UASs are configured with one ormore sensors (e.g., cameras, distance measurement sensors, signalstrength sensors, beacon detectors, and the like) that can capturecorresponding sensor data. This UAS detected sensor data can be utilizedto determine a unique identification of an object intended to beinteracted with at a predefined location, such as an intended deliverylocation where a UAS is to deliver a package. Further, using the sensordata the identified object can be confirmed as an expected object thatis expected at the predefined location. Some embodiments include acontrol circuit that communicates through one or more transceivers. Thecontrol circuit can receive the sensor data captured by one or moresensors of a UAS. From the sensor data the control circuit can determinea unique identification of an object at a predefined location, andconfirm that the identified object is an object expected at thepredefined location and typically an object with which the UAS inintended to interact.

FIG. 1 illustrates a simplified block diagram of an exemplary UAScontrol system 100, in accordance with some embodiments. The exemplaryUAS control system 100 includes one or more task control systems 102 andmultiple unmanned aircraft systems (UAS) 104. The UASs are incommunication over one or more distributed communication and/or computernetworks 106 with the task control system 102. The task control systemcontrols the distribution and/or provides flight path information to theUASs in implementing one or more tasks, such as but not limited todelivering packages, capturing video, obtaining inspection data, andother such tasks. It is noted that the below description generallydescribes a task of performing deliveries of products, however, thesystem is not limited to performing deliveries and instead can beapplied to numerous other tasks. Some embodiments include one or morepilot control systems 108 that allow a remote pilot to provide flightcommands to be implemented by the UAS. The flight commands can be asingle simple command (e.g., change course), a series of commands, orallowing the remote pilot to take over full control of a UAS for atleast a period of time.

One or more retailer and/or product distribution center systems 110 maybe accessible over the one or more distributed networks 106 by customersusing user interface units 112 (e.g., computer, laptop, smart phones,tablets, and other such devices) and/or other such customer devices.Customers can access a retailer system and purchase one or moreproducts. Further, the customers may elect to have the purchasedproducts delivered. The system includes and/or is accessible by multipleuser interface units 112, each associated with at least one customer.The user interface units can communicate via the communication network106 with the retailer system 110, and in some applications cancommunicate with the task control system 102 and/or a UAS. Someembodiments further utilize one or more distribution and/or launchvehicles 118 that transport one or more UASs, and when relevant packagesto be delivered by those UASs, to strategic launch locations from whichone or more UASs can be launched to implement the intended task (e.g.,unmanned aerial delivery, video capture, establish wireless network,etc.).

The task control system 102 is configured to coordinate the tasksperformed by the UASs 104, such as coordinate the delivery of packagesand/or products ordered by customers. This can include determiningand/or providing delivery scheduling, flight schedules, flight routeplans, alternate route information, identification of no-fly zones,and/or other such functions. In some applications, product orders arereceived from the retailer systems 110. The retailer systems may includeInternet market retailer sources, in-store order systems, and/or othersuch sources. Further, the product orders may designate and/or requestthat one or more products of the order are to be delivered by an UAS.Additionally or alternatively, customers may register with a retailentity that maintains a customer profile or record, and during theregistration the customer may have authorized and/or requested productsbe delivered using the UAS.

Based on the received orders and/or other tasks scheduled to beperformed by one or more UASs, the task control system can scheduledeliveries (and/or tasks) and provide relevant routing and/or flightpath information to a corresponding one of the UASs 104. The determinedflight path is determined based on a designated delivery locationreceived from the customer and/or a task location where the UAS is toperform or assist in performing the task. In some embodiments, thecustomers may use their portable user interface units 112 to specify adelivery location. Based on the specified delivery location, the taskcontrol system can determine a scheduled delivery based on one or morefactors, along with a flight path or route that an UAS is to travelwhile carrying the one or more packages for delivery. Accordingly, someembodiments enable an UAS to be able to deliver a payload to adetermined delivery location and/or perform other tasks at predefinedtask locations.

In operation, sensor data is received corresponding to the task beingperformed and/or the delivery of the package. The sensor data typicallyincludes sensor data captured by one or more sensors of a UAS 104. Othersensor data may be received from other devices, such as but not limitedto user interface units 112, fixed cameras, other UASs, and/or othersuch devices. Based on the sensor data, an object can be identified asbeing within a class of objects, a unique identification of an object ata predefined location can be identified, and other such identification.This object may be a delivery and/or landing pad at an intended deliverylocation, a delivery locker at an intended delivery location, acustomer, a building, a particular vehicle, a UAS launch system, a UAShanger, or other such object at the predefined location. The recognitioncan be based on image processing, RFID detection, optical bar code scan,text capture and compare, beacon detection, other such recognitionmethods, or combination of two or more of such recognition methods. Forexample, one or more images and/or video of an area corresponding to adelivery location may be captured by one or more cameras of a UAS whilein the process of delivering a package. Image and/or video processingcan be performed to detect an intended delivery pad where the package isto be delivered. In some instances, for example, a delivery pad or otherobject to be recognized may include a predefined color pattern,alphanumeric characters, barcode, etc. that can be detected throughimage recognition of images and/or video captured by a UAS while the UASis flying over the area corresponding to the delivery location. Asanother example, image processing can detect a person located in an areacorresponding to the delivery location, and using facial recognition canconfirm the person is an individual with which the UAS is intended tointeract in delivering the package (e.g., a customer to receive thepackage and/or a person associated with the customer, such as a spouse,child, neighbor, etc.). Additionally or alternatively, some embodimentsmay receive one or more communications from the object or a deviceassociated with an object (e.g., smartphone associated with a customer).The system may use this communication in identifying and/or confirmingthe object. In some instances, the UAS may initiate the communicationexchange by sending a communication to the intended object and/or adevice associated with the object (e.g., a user interface unit 112associated with a customer).

FIG. 2 illustrates a simplified block diagram of an exemplary taskcontrol system 102, in accordance with some embodiments. The taskcontrol system includes one or more control circuits 202, memory 204,and input/output (I/O) interfaces and/or devices 206. Some embodimentsfurther include one or more user interfaces 208. The control circuit 202typically comprises one or more processors and/or microprocessors. Thememory 204 stores the operational code or set of instructions that isexecuted by the control circuit 202 and/or processor to implement thefunctionality of the task control system 102. In some embodiments, thememory 204 may also store some or all of particular data that may beneeded to schedule deliveries, determine delivery locations, confirmdelivery locations, determine flight paths, cause flight paths and/orflight instructions to be communicated to the UAS 104, and make any ofthe associations, determinations, measurements and/or communicationsdescribed herein. Such data may be pre-stored in the memory, receivedfrom an external source (e.g., retailer distribution system 110, UASs104, pilot control system 108, user interface units 112, etc.), bedetermined, and/or communicated to the task control system.

It is understood that the control circuit 202 and/or processor may beimplemented as one or more processor devices as are well known in theart. Similarly, the memory 204 may be implemented as one or more memorydevices as are well known in the art, such as one or more processorreadable and/or computer readable media and can include volatile and/ornonvolatile media, such as RAM, ROM, EEPROM, flash memory and/or othermemory technology. Further, the memory 204 is shown as internal to thetask control system 102; however, the memory 204 can be internal,external or a combination of internal and external memory. Additionally,the task control system typically includes a power supply (not shown)that is typically rechargeable, and/or it may receive power from anexternal source. While FIG. 2 illustrates the various components beingcoupled together via a bus, it is understood that the various componentsmay actually be coupled to the control circuit 202 and/or one or moreother components directly.

Generally, the control circuit 202 and/or electronic components of thetask control system 102 can comprise fixed-purpose hard-wired platformsor can comprise a partially or wholly programmable platform. Thesearchitectural options are well known and understood in the art andrequire no further description here. The task control system and/orcontrol circuit can be configured (for example, by using correspondingprogramming as will be well understood by those skilled in the art) tocarry out one or more of the steps, actions, and/or functions describedherein. In some implementations, the control circuit 202 and the memory204 may be integrated together, such as in a microcontroller,application specification integrated circuit, field programmable gatearray or other such device, or may be separate devices coupled together.

The I/O interface 206 allows wired and/or wireless communicationcoupling of the task control system 102 to external components, such asthe UASs 104, retailer system 110, pilot control systems 108, userinterface units 112, databases 114, and other such devices or systems.Typically, the I/O interface 206 provides wired and/or wirelesscommunication (e.g., Wi-Fi, Bluetooth, cellular, RF, and/or other suchwireless communication), and in some instances may include any knownwired and/or wireless interfacing device, circuit and/or connectingdevice, such as but not limited to one or more transmitter, receiver,transceiver, etc.

The user interface 208 may be used for user input and/or output display.For example, the user interface 208 may include any known input devices,such one or more buttons, knobs, selectors, switches, keys, touch inputsurfaces, audio input, and/or displays, etc. Additionally, the userinterface 208 include one or more output display devices, such aslights, visual indicators, display screens, etc. to convey informationto a user/worker, such as but not limited to product orders, productinformation, flight path mapping, flight path information, UAS parameterdata, customer information, images, video, communication information(e.g., text messages, emails, etc.), status information, mappinginformation, operating status information, notifications, errors,conditions, and/or other such information. Similarly, the user interface208 in some embodiments may include audio systems that can receive audiocommands or requests verbally issued by a worker, and/or output audiocontent, alerts and the like.

FIG. 3 illustrates a simplified block diagram of an exemplary UAS 104,in accordance with some embodiments. The UAS includes one or more UAScontrol circuits 302, memory 304, input/output (I/O) interfaces and/ordevices 306, motors and motor control circuitry 308, location detectionsystems 310, and one or more cameras 312. Some embodiments furtherinclude one or more sensors 314, a crane system 316, a user interface318, and/or other such systems. The UAS control circuit 302 comprisesone or more processors and/or microprocessors and couples with thememory 304 that stores operational codes or sets of instructions thatare executed by the UAS control circuit 302 and/or processor toimplement the functionality of the UAS 104. In some embodiments, thememory 304 may also store some or all of particular data that may beneeded to navigate to delivery locations and deliver one or moreproducts. It is understood that the UAS control circuit 302 may beimplemented as one or more processor devices as are well known in theart. Similarly, the memory 304 may be implemented as one or more memorydevices as are well known in the art, such as those described above.Further, the memory 304 is shown as internal to the UAS 104; however,the memory 304 can be internal, external and wirelessly accessible, or acombination of internal and external memory. Additionally, the UAStypically includes a power supply (not shown) that is typicallyrechargeable, and/or it may receive power from an external source. WhileFIG. 3 illustrates the various components being coupled together via abus, it is understood that the various components may actually becoupled to the UAS control circuit 302 and/or one or more othercomponents directly.

The UAS control circuit 302 and/or electronic components of the UAS 104can comprise fixed-purpose hard-wired platforms or can comprise apartially or wholly programmable platform. These architectural optionsare well known and understood in the art and require no furtherdescription here. The UAS and/or UAS control circuit can be configured(for example, by using corresponding programming as will be wellunderstood by those skilled in the art) to carry out one or more of thesteps, actions, and/or functions described herein. In someimplementations, the UAS control circuit 302 and the memory 304 may beintegrated together, such as in a microcontroller, applicationspecification integrated circuit, field programmable gate array or othersuch device, or may be separate devices coupled together.

The I/O interface 306 allows wired and/or wireless communicationcoupling of the UAS 104 to external components, such as task controlsystem 102, the retailer system 110, pilot control system 108, in someinstances one or more user interface units 112, and other such devicesor systems. Typically, the I/O interface 306 provides at least wirelesscommunication (e.g., Wi-Fi, Bluetooth, cellular, RF, and/or other suchwireless communication), and in some instances may include any knownwired and/or wireless interfacing device, circuit and/or connectingdevice, such as but not limited to one or more transmitter, receiver,transceiver, etc.

The location detection system 310 obtains location information todetermine a current location of and track the location and movements ofthe UAS. The UAS control circuit 302 utilizes the location informationin controlling the movements of the UAS. In some instances, the locationdetection system may include a global positioning detection systemand/or system that received global positioning coordinate information,Wi-Fi signal triangulation and/or evaluation system, cellular towertriangulation system, beacon detection, and/or other such locationdetection system. Further, the location detection system may useinformation provided by one or more sensors 314 in determining and/ortracking location information. The sensors can include substantially anyrelevant sensor such as, but not limited to, one or more inertialsensors, accelerometers, altimeters, gyroscopes, compasses, distancemeasurement systems (e.g., ultrasound, laser, etc.), and/or other suchsensor information. Other sensors 314 may be included that may or maynot be used for location detection, such as but not limited to wirelesssignal strength sensor, weather sensors, magnetic radiation detectionsensors, movement detector (e.g., detecting movement within a thresholddistance of the delivery location), and the like.

Typically, the UAS 104 includes one or more cameras 312 that captureimages and/or video that can be evaluated by the UAS control circuit 302of the UAS and/or communicated to the task control system 102 forprocessing. In operation, the UAS control circuit 302 of the UAS canactivate one or more of the cameras 312, which may be in response to acommand from the task control system, in response to a pilot commandreceived from the pilot control system, the UAS control circuitactivates one or more cameras based on a predefined delivery sequence(e.g., when within a threshold distance of the delivery locationactivate a camera to capture images and/or video, when hovering over thedelivery site, while lowering the UAS, while lowering the package by acrane system 316, and the like), and the like. Some embodiments includedifferent cameras directed in different general directions (e.g., up,down, forward, backwards), additionally or alternatively, one or morecameras may be cooperated with camera directional control systems (e.g.,motors, tracks, gimbals, etc.) that can control the movement of one ormore cameras. In some embodiments, the one or more cameras provideomnidirectional imaging and/or video capabilities. As introduced above,in some embodiments one or more pictures and/or video captured by thecamera/s 312 of the UAS can be evaluated in detecting and/or identifyingone or more objects with which the UAS is supposed to interact. Further,in some applications video can be communicated to the pilot controlsystem to allow a pilot to see the conditions at and/or around thedelivery location.

In some implementations, a UAS 104 may include a crane system 316 thatallows a product being delivered to be lowered to the delivery sitewhile the UAS hovers over the delivery site, and typically hovers at orabove a threshold height above the delivery site. The crane systemand/or a package release system may in some embodiments be implementedin accordance with or similar to the crane systems, and/or releasesystem described in U.S. Provisional Application No. 62/222,572, forNathan G. Jones et al., filed Sep. 23, 2015, and entitled SYSTEMS ANDMETHODS OF DELIVERING PRODUCTS WITH UNMANNED DELIVERY AIRCRAFTS, andU.S. Provisional Application No. 62/222,575, for Nathan G. Jones, filedSep. 23, 2015, and entitled PACKAGE RELEASE SYSTEM FOR USE IN DELIVERYPACKAGES, AND METHODS OF DELIVERING PACKAGES, which are incorporatedherein by reference in their entirety.

In some implementations, the UAS may include one or more user interfaces318 that can be used for user input and/or output display. For example,the user interface 318 may include any known input devices, such one ormore buttons, knobs, selectors, switches, keys, touch input surfaces,audio input, and/or displays, etc. Additionally, the user interface 318includes one or more output display devices, such as lights, visualindicators, display screens, etc. to convey information to a user.Similarly, the user interface 318 in some embodiments may include audiosystems that can receive audio commands or requests verbally issued by aworker, and/or output audio content, alerts and the like.

FIG. 4 illustrates a simplified block diagram of an exemplary pilotcontrol system 108, in accordance with some embodiments. The pilotcontrol system includes one or more pilot system control circuits 402,memory 404, input/output (I/O) interfaces and/or devices 406, userinterfaces 408. The pilot system control circuit 402 typically comprisesone or more processors and/or microprocessors, and couples with thememory 404 to access operational code or set of instructions that areexecuted by the control circuit 402 to implement the functionality ofthe pilot control system 108. In some embodiments, the memory 404 mayalso store some or all of particular data that may be needed to remotelycontrol the UASs 104, and make any of the associations, determinations,measurements and/or communications described herein. It is understoodthat the control circuit 402 and/or memory 404 may be implemented as oneor more processor devices and memory as are well known in the art, suchas those described above. Further, the memory 404 is shown as internalto the pilot control system 108; however, the memory 404 can beinternal, external or a combination of internal and external memory.While FIG. 4 illustrates the various components being coupled togethervia a bus, it is understood that the various components may actually becoupled to the pilot system control circuit 402 and/or one or more othercomponents directly. In some implementations, the pilot system controlcircuit and the memory 404 may be integrated together, such as in amicrocontroller, application specification integrated circuit, fieldprogrammable gate array or other such device, or may be separate devicescoupled together.

The I/O interface 406 allows wired and/or wireless communicationcoupling of the pilot control system 108 to external components, such asthe UAS 104, task control system 102, retailer system 110, databases114, and other such devices or systems. Typically, the I/O interface 406provides at least wireless communication (e.g., cellular, satellite,Wi-Fi, Bluetooth, RF, and/or other such wireless communication), and insome instances may include any known wired and/or wireless interfacingdevice, circuit and/or connecting device, such as but not limited to oneor more transmitter, receiver, transceiver, etc. The user interface 408is used for user input and/or output display. For example, the userinterface 408 may include any known input devices, such one or morebuttons, knobs, selectors, switches, keys, touch input surfaces,joysticks, dials, audio input, and/or displays, etc. Additionally, theuser interface 408 further includes one or more output display devices,such as lights, visual indicators, display screens, etc. to conveyinformation to a user/worker, such as but not limited to video data,images, delivery location parameters and/or statistics, productinformation, flight path mapping, flight path information, UAS parameterdata, customer information, communication information (e.g., textmessages, emails, etc.), status information, mapping information,operating status information, notifications, errors, conditions, and/orother such information. Similarly, the user interface 408 in someembodiments may include audio systems that can receive audio commands orrequests verbally issued, and/or output audio content, alerts and thelike.

Further, some embodiments provide a bank of pilot control systems 108with one or more pilots manning the pilot control systems while UASs arescheduled to and/or while UASs are performing tasks. Through the pilotcontrol system a pilot can remotely take over at least some of thecontrols of a UAS. The pilot system control circuit can receive anotification that pilot assistance is requested while the UAS is withina threshold pilot control distance of the task location (e.g., deliverylocation). Remote control over at least some of the controls of the UAScan be established through the transceiver. As such, commands can bereceived through the user interface 408 from a pilot, and becommunicated to the UAS to implement the commands such that the pilotcontrols at least some aspects of the UAS and/or takes over totalcontrol of the UAS. Typically, the pilot can take over control duringany time the UAS is in operation (e.g., the UAS is preparing for flight,in flight, and/or shortly after flight begins, etc.). For example, insome instances, a pilot may take over at least partial control at leastduring a depositing of the product at the delivery location.

As described above, some embodiments utilize distribution vehicles 118.One or more UAS 104 and products to be delivered can be loaded into thelaunch vehicles. Based on scheduled deliveries, the launch vehicles canbe routed to predetermined launch locations that are within a predefinedflight distance (e.g., based on battery power, weight of the packagebeing delivered, weather conditions, etc.) of one or more scheduleddelivery locations. The one or more UASs, which may be cooperated withone or more of the products to be delivered, can then be launched fromthe launch vehicles. The distribution vehicle 118 can travel to multipledifferent launch locations to implement multiple different scheduleddeliveries. Further, after launch, a distribution vehicle may proceed toa subsequent launch location to launch one or more other UASs and thensubsequently return to a first launch location to retrieve one or morepreviously launched UASs.

Some embodiments provide systems that enable UASs to implement tasks andto recognize an intended object at a task location. Sensor data iscaptured by at least one sensor of a UAS. Again, the sensor data may beimage and/or video content, text recognition, RFID signal, bar codedetection, other such sensor data, or combination of two or more of suchsensor data. From the sensor data a unique identification can bedetermined of an object at a predefined location. Based on theidentification and the sensor data, the system can confirm that theidentified object is an expected object expected at the predefinedlocation. The confirmation of the object allows the system to take oneor more actions to allow the UAS to interact with the object. The UAS, apilot, and/or a task control system can further detect potential objectsthat are to be avoided (e.g., trees, elevated electrical lines,buildings, and the like). However, the system uses sensor data toadditionally identify an object at an expected location that is intendedto be interacted with allowing the UAS to effectively perform a taskwith a level of confidence.

The UAS control circuit 302 can receive, in some applications as atleast part of the sensor data, image data captured by a camera on theUAS. Typically, the UAS control circuit can orient a camera and/or theUAS to capture one or more images and/or video. The image and/or videodata can be processed (e.g., image processing, text capturing, and thelike) to detect one or more features that correspond to the expectedobject. This may be a pattern, detected movement, other such features,or combination of such features. In some implementations, the imageprocessing and object identification is performed local on the UAS.Further, the UAS may identify a location where the expected object ispredicted to be detected. Accordingly, the UAS control circuit can limitthe evaluation of sensor data until the UAS is within a thresholddistance of the location. In some embodiments, the UAS control circuitcan obtain a unique identification of the object from image processingsensor data. For example, in some applications, the UAS may recognize adelivery pad based on a predefined pattern on the landing pad. Thispattern can be configured to be readily discernable from an image takingby a camera at heights of hundreds or even thousands of feet above thelanding pad. Similarly, the image processing may recognize a predefinednumber, bar code or other such unique identification on a storagelocker, a delivery pad, a roof of a distribution vehicle, one or moreflags at a location, or other such objects. In some applications, theUAS control circuit, in obtaining the unique identification, obtainsfrom the image processing a delivery pad identifier that is unique tothe delivery pad associated with the predefined location and distinctfrom other similar and different delivery pads. As introduced above, thedelivery pad is configured to receive a package to be delivered by theUAS.

In some embodiments, UAS control circuit 302 causes facial recognitionprocessing to be performed on one or more images and/or video of thepredefined location. In obtaining the unique identification, the UAS mayobtain an identification through the facial recognition of a customerpositioned proximate the predefined location. In some applications,images and/or video content may be communicated to a remote image and/orvideo processing system (e.g., as part of the task control system). Adatabase may be accessed of numerous objects, customers, workers, andother such objects. Through a comparison of pre-obtained images with theimage processing, the system may correlate a customer's facial featureswith features of a pre-obtained and processed image of the customer. Forexample, the customer may have registered with a delivery service, witha retail entity, or the like, and provided one or more images ofthemselves and/or other persons that may receive a delivery on theirbehalf. The images and/or image processing can be associated with one ormore predefined locations where deliveries for which that customer is tobe associated (e.g., home, vacation home, work location, etc.). As such,the image processing can correlate the UAS captured image with apreviously obtained image and/or image processing to confirm an expectedperson is at the location.

In some embodiments, the system can further confirm an object based oncommunication from the object and/or a device previously associated withthe object. For example, the UAS 104 and/or the task control system 102may further receive a communication from a user interface unit 112preregistered to be associated with a customer or other person at thepredefined location. In some instances, the communication is receivedthrough a wireless transceiver, and the UAS and/or the delivery systemcan detect communication from the user interface unit associated withthe customer who is associated with the predefined location. Further,the UAS may initiate a communication exchange by broadcasting a beaconsignal, generating an optical signal, and/or initiating an intendeddirect communication (e.g., via cellular communication or text messageto a customer's user interface unit). The UAS control circuit, inconfirming the identified object is the expected object, can at least inpart confirm the identified object based on the received sensor data andthe detected communication from the user interface unit. Similarly, thecontrol circuit, in determining the unique identification of the object,may receive a communication from a distribution vehicle 118. In someimplementations, for example, the communication can comprise anidentification of the distribution vehicle. The control circuit confirmsthat the identification of the distribution vehicle is consistent withan expected distribution vehicle assigned to transport the UAS away fromthe predefined location.

The sensor data may further be utilized in interacting with the objectand/or in preforming the task. For example, the sensor data may be usedto confirm there is sufficient space at a delivery location to deliver apackage. This can include, for example, confirming that if there issomething on a delivery pad there is still sufficient space to deliver apackage. The confirmation of sufficient space may be relevant, forexample, when a customer is returning a package via a UAS. In someinstances, the control circuit is further configured to receiveadditional sensor data from the UAS. The control circuit may identifythat a package is located on the delivery pad, in the delivery locker orat another predefined location. Again, the delivery pad or the like maybe intended to receive a package being delivered by the UAS. The controlcircuit can evaluate the space surrounding the package on the deliverypad and confirm there is sufficient space on the delivery pad, which isnot occupied by the already placed package, to receive a package beingcarried by the UAS. The UAS can initiate delivery of the package inresponse to confirming there is sufficient space on the delivery pad todeliver the package. In other instances, the camera data may indicatethat there is snow or other such obstruction that blocks some or all ofthe delivery pad. The UAS can use the dimensions of package beingdelivered to determine whether the package will fit. Some embodimentsmay detect markings, measurements on the delivery pad, digitalwatermarking of a size of delivery area, and use this information todetect how much area is blocked to determine an amount of area availableto receive a package. In some instances, a pilot may be notified torequest confirmation and/or to take over delivery controls. Additionallyor alternatively, the customer may be notified that there isinsufficient space and request the customer remove the items on thedelivery pad or to select an alternative delivery location. In otherimplementations, the UAS or another UAS may be instructed to retrievethe returned package prior to delivering a subsequent package.

In some implementations, the sensor data can be used to verify a correctpackage to be carried by the UAS 104. The control circuit, indetermining identification of an object, may identify or determine apackage identifier from the sensor data of an expected package to becooperated with the UAS. The package may be a package intended to bedelivered by the UAS to a delivery location, a package being returned bya customer, or the like. The sensor data may include reading a barcodes, detecting a size, shape and/or coloring, detecting one or morepredefined markers, RFID data, other such data, or a combination of twoor more of such data.

FIG. 5 illustrates a simplified flow diagram of an exemplary process 500of controlling one or more UASs, in accordance with some embodiments. Instep 502, sensor data captured by at least one sensor of a UAS isreceived. Again, the sensor data may be RFID sensor data, image and/orvideo data, distance measurement data, beacon data, and/or other suchsensor data. In step 504, a unique identification of an object at apredefined location is determined at least in part from the sensor data.Further, the unique identification is specific to that object anddistinguishes that object from other objects.

In step 506, the system confirms, from the sensor data, that theidentified object is an expected object expected at the predefinedlocation. In some instances, the object and/or characteristics of theobject are registered with the task control system, the retailer system110, and/or other such system or database. Accordingly, in confirmingthe identification of the object, the system can limit the number ofobjects that are considered. This limited number of objects can greatlyincrease the speed of confirmation. Similarly, in some applications, thelimited number of items can reduce the amount of data that iscommunicated to the UAS in evaluating the sensor data and with which isto be compared to the sensor data.

Some embodiments in receiving the sensor data receive image datacaptured by a camera on the UAS. The UAS and/or the task control systemcan use this image data to obtain the unique identification of theobject from image processing. The object may be a person, a deliverylocker, a delivery pad, a flag, or other such object. For example, insome instances, a control circuit can obtain from the image processing adelivery pad identifier that is unique to a delivery pad associated withthe predefined location. Typically, the delivery pad identifier isdistinct from other similar and different delivery pads. Again, thedelivery pad can be a location, marker, bin, mat or the like that isconfigured to receive a package to be delivered by the UAS. Additionallyor alternatively, in some implementations the sensor data is utilized toobtain an identification through facial recognition of a customerpositioned proximate the predefined location.

Some embodiments further receive additional sensor data from the UAS.Using this additional sensor data, the system can detect a first packageis located on the delivery pad. Based on this detection, the UAS and/orthe task control system can confirm there is sufficient space on thedelivery pad, which is not occupied by the first package, to receive asecond package being carried by the UAS. Based in part on theconfirmation that there is sufficient space on the delivery pad todeliver the second package, the UAS can initiate delivery of the secondpackage.

The UAS and/or the task control system may be in communication with thecustomer, a distribution vehicle, and/or other objects that may affectthe routing, flight and/or task implementation. In some implementations,for example, a detected communication from a user interface unit 112associated with a customer who is associated with the predefinedlocation. The detected communication from the user interface unit can beused in cooperation with the received sensor data in confirming theidentified object. For example, facial recognition can be used toidentify a customer at a task location, and communication from a userinterface unit 112 that has been previously associated with thatcustomer can be used as at least part of the confirmation of theidentification of the customer, a delivery pad associated with thecustomer, or other such object. Further, communications from an objectcan include receiving a communication from a distribution vehicle 118.The communication from the distribution vehicle can include anidentification of the distribution vehicle. Using the identification,the system can confirm the identification of the distribution vehicle isconsistent with an expected distribution vehicle assigned to transportthe UAS away from the predefined location. Sensor data may further beused to confirm the accuracy of a package to be delivered by the UAS,picked up by a UAS or the like. In some embodiments, the determinationof the unique identification of the object can include determining, fromthe sensor data, a package identifier of an expected package to becooperated with the UAS and to be delivered by the UAS to a deliverylocation.

Accordingly, the UASs can utilize sensor data, in part, to removegovernmental restrictions (e.g., requiring line of sight operation), andcan safely and effectively complete autonomous tasks such as beyond lineof sight (BLOS) package delivery, video capture of an event or building,counting objects, and other such tasks. The sensor data not only allowsthe UAS to autonomously avoid obstacles in the UAS's flight path or itsdelivery area, but also the ability to identify classes, types andspecific instances of objects (e.g., buildings, people, and otherobjects). A package delivery task can involve a package loading, UASlaunch, airborne waypoint navigation using the global positioning system(GPS) or similar technology coupled with object avoidance, deliverylocation ranging and identification, package delivery, which may includespecific object and behavior recognition along with avoidance andinteraction based on those objects and behaviors, return to airbornewaypoint navigation, return location (e.g., warehouse, store,distribution vehicle, etc.) ranging and identification, and UAS landingat return location. In some cases, the UAS may also be used to pick up apackage (e.g., to eliminate a manual package loading step or forcustomer returns).

The UAS control system 100 takes advantage of identifying a collectionof classes, types and/or specific objects and response to these objects.The responses may include avoidance, interaction, observation, recordingor other functions depending on the class and specific instance of theencountered object as well as the portion of the task the UAS iscurrently performing. In some embodiments, the UAS identify an object asbeing within a class of objects. The classes can include, for example:packages, task/delivery locations, vehicles, people, pets, buildings,obstructions (e.g., trees, poles, power lines, and other obstructions).Packages may be items that the UAS may be used to deliver. Someembodiments may utilize several iterations of generic packageidentification, ranging from identifying specific types of packages bysize, shape, color, marking, bar codes, digital watermarks, RFID tags orother methods. Some implementations may simplify an iteration by using asmall set of possible options. For example, a tote or box with specificmarkings that are easily identifiable might be used to contain the itemsto be delivered. This would limit the need for the UAS to determine howto pick up the package (only a pre-determined, finite number ofpossibilities would be offered), balance it and carry it. The onevariable that the UAS would take into account would be differences inweight between packages. The weight could be measured by the UAS, orencoded in digital format on the tote, package labeling, etc. The UASare typically provided with a flight path to a task location. In someinstances, the UAS can identify a task location based on GPS coordinatesand using other sensor data. Additionally, the UAS may be able to detectthe task location based on a clearly marked landing zone, a deliveryreceptacle, other easily distinguishable landmark, and the like.Further, in some implementations, the system and/or the UAS candetermine whether obstructions exist at a task location and/or on thedelivery location (e.g., a previously delivered package that has notbeen retrieved by a customer). In some applications, the UAS may be ableto alert the customer when an obstruction is detected requesting thecustomer to clear the delivery location and/or lading location.Similarly, the UAS may determine whether there is sufficient room toplace the new package, use an alternative delivery method (e.g., dropthe merchandise from a height rather than placing it directly on thelanding zone and releasing it), rescheduling delivery time or location,etc.

In some embodiments, the UAS may further identify various classes ofvehicles, including delivery trucks from which the UAS may be launchedfor last mile delivery, passenger automobiles, emergency vehicles, otheraircraft including UASs, helicopters and airplanes, bicycles,motorcycles, boats, etc. Further, the UAS may implement a flight pathand perform sensor processing to return to a distribution vehicle,either while the vehicle is stationary or in motion. Similarly, the UASmay preform processing to identify vehicles to avoid, as other suchtraffic (e.g., naval, airborne traffic). In some implementations the UAScontrol system and/or UAS is able to identify a class of people (e.g.,adults versus children, UAS operators, customers, bystanders, etc.),and/or individual people. The recognition of people can be used in partto avoid contact with and injury to people during flight operations. Inother instances, as described above, the UAS may identify a specificperson in order to interact with that identified person. Still further,in some instances, the UAS control system and/or UAS may recognize petsand other animals avoid contact with, injury to or damage from themduring flight operations.

The UAS system and/or UASs are typically further configured to detectstructures and/or identify buildings, including those that host deliverylocations (e.g., personal residences, apartments, office buildings,etc.) as well as inventory sources for its packages to be delivered(e.g., distributions centers, warehouses, retail outlets, etc.). The UAScan automatically avoid contact with buildings to prevent damage toitself, while also being able to navigate to specific portions of abuilding (e.g., to deliver a package, return to a warehouse, etc.).Other obstacles, such as but not limited to trees, poles, power lines,guy-wires, and other obstructions can be detected during flightoperations to prevent contact with them and damage to the UAS.

Some embodiments identify classes of objects to building outcapabilities for flight operations, safety, and task performance. TheUAS system is further typically configured to identify a specificinstance of one of those classes. For example, the UAS may identify aspecific package beyond simply identifying that an object is a package.This can include identifying a specific package that is scheduled fordelivery. In some instances, multiple packages may be situated within adistribution center or on a delivery truck. The UAS may be configured topick a specific package from amongst several others, attach to it, liftit and deliver it to its rightful destination. Similarly, in someinstances, the UAS may recognize and/or identify a specific package forreturn services. Further, the UAS system and/or UAS may identify aspecific delivery location. Some embodiments, for example, mayincorporate a standard design for delivery (e.g., a landing pad orsecure locker to which the UAS will deliver a package). Additionally oralternatively, the UAS system can further identify a specific locationfrom others to provide correct delivery. In some instances, uniqueidentifies can be detected at the location. Further, sensor data may beused in cooperation with location identifying information as furtherconfirmation of location.

The UAS system and/or the UAS may in some embodiments further identifyspecific people, for example a customer to whom a package is to bedelivered. For example, facial recognition can be used to compare facialfeatures to a database of facial data to identify a person. Similarly,the UAS system and/or UAS may identify specific vehicles (e.g.,distribution and/or delivery vehicles). For example, a distributionvehicle that the UAS is to locate to be retrieved after performing atask. As a further example, the UAS may recognize a distribution vehiclefrom which the UAS was launched so that the UAS can return to pick upadditional packages for delivery if possible, or to be recovered inorder to be re-charged/re-fueled and to be loaded with additionalpackages or stored for the duration of the ground-based delivery route.Still further, the UAS system and/or UAS can identify specific building(e.g., store, distribution center, warehouse, etc.) from which it waslaunched and to which it returns. As with the previous use case, the UASmay pick up additional specific packages and begin a new delivery route,or land to be re-charged/re-fueled or stored until further use.

In some embodiments, the UASs are configured to detect and/or lock in toa signal coming from the distribution vehicle, delivery pad, deliverylocker or other location. This enables the UAS to utilize autonomousflight to the distribution vehicle or other location. Additionally oralternatively, the task control system 102 or other central computersystem (CCS) to provide routing instructions and/or guide the UAS, suchas by GPS in real time, to its area of operations. The UASs can furtherbe instructed and configured to make multiple stops without needing timeto re-route after each task location (e.g., after each delivery). Inoperation, the UAS can activate onboard awareness upon activation orafter reaching a threshold elevation.

The UASs include object identification sensors, including for examplemulti- or omnidirectional video, sonar, ultrasonic, laser ranging, LIDAR(light detection and ranging), infrared detection systems, other suchsensor systems, or combination of two or more of such sensor systems.These sensor systems enable the UAS to avoid other objects duringflight, and can further be used in navigation and detecting expectedobjects. When an object comes within detection range, the UAS may takeactions to avoid contact such as raise or drop elevation or turn toavoid the obstacle and recalculate its route to its destination. Datafrom sensors can be fed directly to a distribution vehicle and/or thetask control system for tracking. Some or all of the information fed tothe task control system may further be communicated to a pilot controlsystem or flight center. The pilot control systems can monitor sensorstatus and GPS location status, and can allow Flight center associates(e.g., pilots) to take action and/or take over flight control of a UAS.The flight center associates can further relinquish control of a UASwhen appropriate (e.g., out of danger, unidentified object is beyond athreshold distance, etc.). Once control is relinquished the UASautomatically resumes where the pilot or ground station left off.Typically, the flight center associates have capability to overridecurrent path and divert UASs.

Sensors will help determine elevation above ground level and otherobjects for accurate delivery. A distance measuring system cancoordinate with other object identification systems for more protectionand awareness. For example, if an object is detected by sonar, a laserdistance measuring system can be activated to find this object andmeasure where and at what degree from the UAS the object is located.When delivering a package, the distance measuring system will assist indetermining the distance from the ground to enable accurate packagedelivery. After the UAS delivers a package, it will resume elevation offlight. The UAS will finish a route based upon information fed from thetask control system and/or flight center. Once the UAS is finished withdelivery, it can return to its launch location and/or a distributionvehicle. In some embodiments, the UAS may use signals from thedistribution vehicle (e.g., using sonar, GPS, optical beacon, otherradio beacon, RFID, and/or other such signals).

Some embodiments identify specific instances of one or more objects ofone or more classes of objects. For example, a UAS and/or the UAScontrol system may identify that an object in a targeted delivery zoneis a landing pad or storage locker, but further validation may beachieved in order to determine that the landing pad or storage locker isthe correct one. As another example, with attended delivery the UAS mayidentify a specific person(s) to whom to deliver a package. This may bedone, for example, through facial recognition or a combination of objectrecognition (e.g., a person has been recognized) along with electronicvalidation of right to receive the delivery (e.g., with a smartphone,beacon or other device whose identity can be independently corroboratedwith onboard devices of the UAS). For unattended delivery, the UAS canconfirm the correct delivery location has been reached and to record forverification the delivery of the package. In some cases, this will beinto a secured storage enclosure that can be opened with credentialsmaintained by the UAS and associated central computer system. Further,in some instances with unattended delivery, the UAS can determinewhether there is sufficient space at the delivery location (e.g., on alanding pad or in a secured storage container) to deliver a new package,especially in cases where previous deliveries have been made, packagesare being returned, and the like. With unattended package pickup (e.g.,for customer returns) the UAS can be configured to identify a specificpackage that it is to pick up (e.g., through bar code, RFID, etc. Insome instances, the UAS determine a best way to cooperate with thepackage, and may video record the incident for verification. In somecases, the package may be stored in a secure storage container, and theUAS will remotely unlock and open it in order to retrieve the package.

In some embodiments, systems, apparatuses, methods, and processes areprovided to control and allocate UASs. In some embodiments, a system tocontrol unmanned aircraft systems (UAS), comprises: one or more wirelesstransceivers configured to communicate with the UAS; a control circuitcoupled with the transceiver(s); and a memory coupled to the controlcircuit and storing computer instructions that when executed by thecontrol circuit cause the control circuit to perform the steps of:receive sensor data captured by at least one sensor of a UAS; determine,from the sensor data, a unique identification of an object at apredefined location; and confirm, from the sensor data, that theidentified object is an expected object expected at the predefinedlocation.

Further, some embodiments provide methods of controlling unmannedaircraft systems (UAS), comprising: receiving sensor data captured by atleast one sensor of a UAS; determining, from the sensor data, a uniqueidentification of an object at a predefined location; and confirming,from the sensor data, that the identified object is an expected objectexpected at the predefined location.

Those skilled in the art will recognize that a wide variety of othermodifications, alterations, and combinations can also be made withrespect to the above described embodiments without departing from thescope of the invention, and that such modifications, alterations, andcombinations are to be viewed as being within the ambit of the inventiveconcept.

What is claimed is:
 1. A system to control unmanned aircraft systems(UAS), comprising: one or more wireless transceivers; a control circuitcoupled with the one or more transceivers; and a memory coupled to thecontrol circuit and storing computer instructions that when executed bythe control circuit cause the control circuit to perform the steps of:receive, while the UAS is in flight and prior to delivery of a packageintended to be delivered to a predefined location to be received by acustomer associated with the predefined location, sensor data capturedby at least one sensor of a UAS comprising image data captured by acamera on the UAS; determine, from the image data, a unique delivery padidentifier of a first delivery pad at the predefined location and uniqueto the first delivery pad, wherein the first delivery pad is configuredto at least receive a package when delivered by the UAS; confirm, fromthe sensor data and prior to the delivery by the UAS of the packageintended to be delivered to the predefined location, that the identifiedfirst delivery pad is an expected object expected at the predefinedlocation; confirm, based on the sensor data, an identification of thecustomer; and initiate delivery of the package in response to confirmingthe first delivery pad identifier and the identification of thecustomer.
 2. The system of claim 1, wherein the control circuit isfurther configured to: receive additional sensor data from the UAS;detect a different package is located on the first delivery pad; confirmthere is sufficient space on the first delivery pad, not occupied by thedifferent package, to receive the package being carried by the UAS; andinitiate delivery of the package in response to confirming there issufficient space on the first delivery pad to deliver the package. 3.The system of claim 1, wherein the control circuit further receives,through at least one of the one or more the wireless transceivers, adetected communication from a user interface unit associated with thecustomer who is associated with the predefined location, wherein thecontrol circuit, in confirming the identified first delivery pad is theexpected object, confirms the identified first delivery pad based on thereceived sensor data and the detected communication from the userinterface unit.
 4. The system of claim 3, wherein the control circuit isfurther configured to obtain an identification through facialrecognition of the customer positioned proximate the predefinedlocation, and confirm the predefined location based on theidentification of the first delivery pad identifier, the detectedcommunication from the user interface unit, and the facial recognitionof the customer.
 5. The system of claim 1, wherein the control circuitis further configured to obtain an identification through facialrecognition of the customer positioned proximate the predefinedlocation, and confirm the predefined location based on theidentification of both the first delivery pad identifier and the facialrecognition of the customer.
 6. The system of claim 5, wherein the firstdelivery pad identifier comprises a predefined pattern of colors.
 7. Thesystem of claim 1, wherein the control circuit is further configured to:receive a communication from a distribution vehicle wherein thecommunication comprises an identification of the distribution vehicle,obtain additional image data captured by the camera on the UAS, whilethe UAS is above a roof of the distribution vehicle, obtain a uniqueidentification of the distribution vehicle at a location from imageprocessing of the additional image data, and confirm that theidentification of the distribution vehicle is consistent with anexpected distribution vehicle assigned to transport the UAS away fromthe predefined location.
 8. The system of claim 1, wherein the controlcircuit, in determining the unique identification of the first deliverypad, determines a package identifier from the sensor data of a differentpackage expected to be cooperated with the UAS and to be retrieved bythe UAS to be returned to a supplier.
 9. The system of claim 1, whereinthe control circuit is further configured to obtain dimensions of thepackage being delivered, detect from image processing measurements onthe first delivery pad, determine an available delivery area on thefirst delivery pad, and confirm there is sufficient space on the firstdelivery pad to receive the package.
 10. A method of controllingunmanned aircraft systems (UAS), comprising: receiving, while a UAS isin flight and prior to delivery by the UAS of a package intended to bedelivered to a predefined location to be received by a customerassociated with the predefined location, sensor data captured by atleast one sensor of the UAS comprising image data captured by a cameraon the UAS; determining, from the image data, a unique delivery padidentifier of a first delivery pad at the predefined location and uniqueto the first delivery pad, wherein the first delivery pad is configuredto at least receive a package when delivered by the UAS; confirming,from the sensor data and prior to the delivery by the UAS of the packageintended to be delivered to the predefined location, that the identifiedfirst delivery pad is an expected object expected at the predefinedlocation; confirming, based on the sensor data, an identification of thecustomer; and initiating delivery of the package in response toconfirming there is sufficient space on the first delivery pad todeliver the second package.
 11. The method of claim 10, furthercomprising: receiving additional sensor data from the UAS; detect adifferent package is located on the first delivery pad; confirming thereis sufficient space on the first delivery pad, not occupied by thedifferent package, to receive the package being carried by the UAS; andinitiating delivery of the package in response to confirming there issufficient space on the first delivery pad to deliver the package. 12.The method of claim 10, further comprising: receiving a detectedcommunication from a user interface unit associated with the customerwho is associated with the predefined location; and wherein theconfirming the identified first delivery pad is the expected objectcomprises confirming the identified first delivery pad based on thereceived sensor data and the detected communication from the userinterface unit.
 13. The method of claim 12, further comprising:obtaining an identification through facial recognition of the customerpositioned proximate the predefined location; and confirming thepredefined location based on the identification of the first deliverypad identifier, the detected communication from the user interface unit,and the facial recognition of the customer.
 14. The method of claim 10,further comprising: obtaining an identification through facialrecognition of the customer positioned proximate the predefinedlocation, and confirm the predefined location based on theidentification of both the first delivery pad identifier and the facialrecognition of the customer.
 15. The method of claim 10, furthercomprising: receiving a communication from a distribution vehicle,wherein the communication from the distribution vehicle comprises anidentification of the distribution vehicle; obtain additional image datacaptured by the camera on the UAS, while the UAS is above a roof of thedistribution vehicle, obtain a unique identification of the distributionvehicle at a location from image processing of the additional imagedata; and confirming that the identification of the distribution vehicleis consistent with an expected distribution vehicle assigned totransport the UAS away from the predefined location.
 16. The method ofclaim 10, wherein the determining the unique identification of the firstdelivery pad comprises determining, from the sensor data, a packageidentifier of a different package expected to be cooperated with the UASand to be retrieved by the UAS to be returned to a supplier.
 17. Themethod of claim 10, further comprising identifying that the firstdelivery pad identifier comprises a predefined pattern of colors. 18.The method of claim 10, further comprising: obtaining, by the UAS,dimensions of the package being delivered; detecting from imageprocessing measurements on the first delivery pad; determining anavailable delivery area on the first delivery pad, and confirming thereis sufficient space on the first delivery pad to receive the package.